diff --git a/selfdrive/car/volkswagen/carstate.py b/selfdrive/car/volkswagen/carstate.py
index 6762996f9c..b6a799e36f 100644
--- a/selfdrive/car/volkswagen/carstate.py
+++ b/selfdrive/car/volkswagen/carstate.py
@@ -111,9 +111,10 @@ class CarState(CarStateBase):
 
     # Update ACC setpoint. When the setpoint is zero or there's an error, the
     # radar sends a set-speed of ~90.69 m/s / 203mph.
-    ret.cruiseState.speed = ext_cp.vl["ACC_02"]["ACC_Wunschgeschw"] * CV.KPH_TO_MS
-    if ret.cruiseState.speed > 90:
-      ret.cruiseState.speed = 0
+    if self.CP.pcmCruise:
+      ret.cruiseState.speed = ext_cp.vl["ACC_02"]["ACC_Wunschgeschw"] * CV.KPH_TO_MS
+      if ret.cruiseState.speed > 90:
+        ret.cruiseState.speed = 0
 
     # Update control button states for turn signals and ACC controls.
     self.buttonStates["accelCruise"] = bool(pt_cp.vl["GRA_ACC_01"]["GRA_Tip_Hoch"])